Cooperative output regulation of multi-agent systems via distributed integral-type observer

This paper is concerned with cooperative output regulation of heterogenous networks via a distributed integral-type observer. Compared with the existing literature on distributed observer, the proposed observer with time delay is less sensitive to effect of high-frequency noise, due to the characteristic of low-pass filter. For closed-loop systems, based on a small gain condition, the distributed integral-type observer holds and cooperative output regulation of heterogenous networks can be achieved. Numerical simulations are shown to demonstrate the effectiveness of cooperative regulation using the distributed integral-type observer, and an extensive comparison is concluded to show superior performance of the proposed observer.